version: 66.09
glider: 143
mission: 13
dive: 2166
start: 2 3 112 18 6 16
data:
$ID,143
$MISSION,13
$DIVE,2166
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,900
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,20
$T_BOOST,0
$D_FINISH,9
$D_PITCH,2
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,10
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,420
$T_MISSION,540
$T_ABORT,720
$T_TURN,120
$T_TURN_SAMPINT,15
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,2
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51400
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,160
$ESCAPE_HEADING,160
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,7
$TGT_DEFAULT_LAT,6000
$TGT_DEFAULT_LON,-5500
$TGT_AUTO_DEFAULT,0
$SM_CC,443.50238
$N_FILEKB,4
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,6
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,1
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-262160.59
$T_RSLEEP,30
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,127
$PITCH_MAX,4070
$C_PITCH,2300
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,31
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,290
$ROLL_MAX,3915
$ROLL_DEG,35
$C_ROLL_DIVE,400
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,30
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,51
$ROLL_AD_RATE,240
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,442
$VBD_MAX,3793
$C_VBD,2250
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-1
$PRESSURE_YINT,-22.40402
$PRESSURE_SLOPE,0.0001163694
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,2.8
$ALTIM_PING_DEPTH,300
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,16
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043394179
$SEABIRD_T_H,0.00062698836
$SEABIRD_T_I,2.474318e-05
$SEABIRD_T_J,2.7476094e-06
$SEABIRD_C_G,-9.9261332
$SEABIRD_C_H,1.1046007
$SEABIRD_C_I,-0.00064730336
$SEABIRD_C_J,0.00014311814
$GPS1,030212,072929,6020.727,-6035.547,48,1.0,49,-27.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,7.52
$_SM_ANGLEo,1.7
$GPS2,030212,072929,6020.727,-6035.547,48,1.0,49,-27.3
$SPEED_LIMITS,0.124,0.210
$TGT_NAME,HEADING
$TGT_LATLONG,6010.579,-6028.120
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.228,-0.110
$KALMAN_X,-4529578.0,1180.5,3117.8,-2050220.4,-30435.4
$KALMAN_Y,5142783.5,-2598.4,-4936.8,2293075.0,39671.3
$MHEAD_RNG_PITCHd_Wd,187.3,20000,-15.2,-7.143
$D_GRID,1681
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,18,-0.63,-116.8,0.0,0.0,0,34,0.00,0.10,-11.80,0.000,6,0.000,0.444,2305,412,2729,0,0,0,0,0,0
$GC,38,-0.63,-116.8,12.5,0.0,1,41,0.57,0.00,0.00,0.000,6,0.045,0.000,2075,412,2730,0,0,0,0,0,0
$GC,640,-0.63,-116.8,79.3,-11.1,11,642,0.00,0.20,0.00,0.000,4,0.000,0.095,2075,281,2731,0,0,0,0,0,0
$GC,670,-0.63,-116.8,79.3,-11.1,11,672,0.00,0.17,0.00,0.000,6,0.000,0.050,2074,401,2731,0,0,0,0,0,0
$GC,1336,-0.63,-116.8,149.5,-9.5,18,1338,0.00,0.20,0.00,0.000,4,0.000,0.094,2074,282,2727,0,0,0,0,0,0
$GC,1428,-0.63,-116.8,149.5,-9.5,18,1430,0.00,0.17,0.00,0.000,6,0.000,0.049,2073,402,2727,0,0,0,0,0,0
$GC,2033,-0.63,-116.8,221.8,-10.8,23,2034,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,402,2726,0,0,0,0,0,0
$GC,2637,-0.63,-116.8,287.8,-10.8,28,2639,0.00,0.20,0.00,0.000,4,0.000,0.093,2074,281,2726,0,0,0,0,0,0
$GC,2665,-0.63,-116.8,287.8,-10.8,28,2667,0.00,0.17,0.00,0.000,6,0.000,0.050,2073,401,2727,0,0,0,0,0,0
$GC,3574,-0.63,-116.8,380.8,-10.0,36,3576,0.00,0.20,0.00,0.000,4,0.000,0.092,2073,280,2727,0,0,0,0,0,0
$GC,3668,-0.63,-116.8,380.8,-10.0,36,3670,0.00,0.17,0.00,0.000,6,0.000,0.049,2072,402,2727,0,0,0,0,0,0
$GC,4633,-0.63,-116.8,475.2,-8.2,44,4635,0.00,0.20,0.00,0.000,4,0.000,0.090,2072,280,2728,0,0,0,0,0,0
$GC,4662,-0.63,-116.8,475.2,-8.2,44,4664,0.00,0.17,0.00,0.000,6,0.000,0.050,2072,401,2728,0,0,0,0,0,0
$GC,5572,-0.63,-116.8,547.3,-7.8,52,5574,0.00,0.20,0.00,0.000,4,0.000,0.091,2072,279,2729,0,0,0,0,0,0
$GC,5647,-0.63,-116.8,547.3,-7.8,52,5649,0.00,0.20,0.00,0.000,6,0.000,0.048,2071,416,2729,0,0,0,0,0,0
$GC,6630,-0.63,-116.8,649.2,-10.3,61,6633,0.00,1.88,0.00,0.000,4,0.000,0.023,2064,1689,2729,0,0,0,0,0,0
$GC,6752,-0.63,-116.8,660.5,-10.2,62,6757,0.12,2.22,0.00,0.000,6,0.138,0.065,2096,394,2729,0,0,0,0,0,0
$GC,7696,-0.63,-116.8,760.1,-10.5,70,7698,0.00,0.17,0.00,0.000,4,0.000,0.096,2096,273,2729,0,0,0,0,0,0
$GC,7737,-0.63,-116.8,760.1,-10.5,70,7740,0.00,0.20,0.00,0.000,6,0.000,0.048,2096,410,2729,0,0,0,0,0,0
$GC,8752,-0.63,-116.8,872.5,-10.4,79,8754,0.00,0.20,0.00,0.000,4,0.000,0.088,2096,289,2729,0,0,0,0,0,0
$GC,8827,-0.63,-116.8,872.5,-10.4,79,8829,0.00,0.17,0.00,0.000,6,0.000,0.051,2096,411,2730,0,0,0,0,0,0
$STATE,9083,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9084,begin apogee
$GC,9094,-0.16,0.0,906.9,-10.3,82,9207,0.45,0.15,104.55,1.420,6,0.085,0.067,2251,1692,2249,0,0,0,0,0,0
$STATE,9208,end apogee,CONTROL_FINISHED_OK
$STATE,9208,begin climb
$GC,9213,0.63,116.8,917.0,0.0,83,9331,0.73,2.30,112.32,1.385,4,0.052,0.063,2518,468,1772,0,0,0,0,0,0
$GC,9357,0.85,290.3,925.2,0.0,84,9530,0.17,2.10,167.32,1.363,6,0.061,0.022,2590,1721,1066,0,0,0,0,0,0
$GC,10504,0.85,290.3,820.3,10.1,94,10507,0.00,1.90,0.00,0.000,4,0.000,0.040,2590,2917,1056,0,0,0,0,0,0
$GC,10627,0.85,290.3,807.9,10.4,95,10631,0.00,2.03,0.00,0.000,6,0.000,0.044,2599,1692,1056,0,0,0,0,0,0
$GC,11568,0.85,290.3,686.2,13.1,103,11571,0.00,2.03,0.00,0.000,4,0.000,0.059,2608,460,1055,0,0,0,0,0,0
$GC,11690,0.85,290.3,671.9,13.2,104,11695,0.15,1.92,0.00,0.000,6,0.142,0.028,2570,1700,1054,0,0,0,0,0,0
$GC,12630,0.85,290.3,577.6,9.3,112,12634,0.00,2.08,0.00,0.000,4,0.000,0.057,2577,459,1054,0,0,0,0,0,0
$GC,12754,0.85,290.3,567.6,9.1,113,12758,0.00,1.92,0.00,0.000,6,0.000,0.028,2577,1697,1054,0,0,0,0,0,0
$GC,13693,0.85,290.3,483.9,9.1,121,13697,0.00,1.98,0.00,0.000,4,0.000,0.042,2577,2939,1054,0,0,0,0,0,0
$GC,13816,0.85,290.3,473.1,9.4,122,13820,0.00,2.05,0.00,0.000,6,0.000,0.043,2585,1693,1053,0,0,0,0,0,0
$GC,14757,0.85,290.3,369.2,11.0,130,14758,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,1694,1054,0,0,0,0,0,0
$GC,15721,0.85,290.3,261.5,11.4,138,15725,0.00,2.03,0.00,0.000,4,0.000,0.058,2594,460,1054,0,0,0,0,0,0
$GC,15844,0.85,290.3,247.8,11.7,139,15848,0.00,1.92,0.00,0.000,6,0.000,0.025,2594,1708,1053,0,0,0,0,0,0
$GC,16544,0.85,290.3,151.9,13.3,145,16547,0.00,2.08,0.00,0.000,4,0.000,0.055,2603,467,1053,0,0,0,0,0,0
$GC,16666,0.85,290.3,137.8,12.9,146,16670,0.00,1.92,0.00,0.000,6,0.000,0.028,2603,1709,1053,0,0,0,0,0,0
$GC,17306,0.85,290.3,66.2,9.6,154,17310,0.00,2.10,0.00,0.000,4,0.000,0.056,2611,455,1053,0,0,0,0,0,0
$GC,17430,0.85,290.3,55.9,9.3,156,17434,0.15,1.92,0.00,0.000,6,0.138,0.027,2571,1704,1053,0,0,0,0,0,0
$FREEZE,7.41,-1.583,-1.859,2,4,0
$GC,18069,0.85,290.3,7.4,7.6,167,18073,0.00,1.92,0.00,0.000,4,0.000,0.041,2571,2920,1054,0,0,0,0,0,0
$FREEZE,7.41,-1.583,-1.859,2,4,0
$FREEZE,7.41,-1.583,-1.859,2,4,0
$FREEZE,4.48,-1.599,-1.857,2,4,0
$FREEZE,4.48,-1.599,-1.857,2,4,0
$FREEZE,4.48,-1.599,-1.857,2,4,0
$FREEZE,4.48,-1.599,-1.857,2,4,0
$FREEZE,1.66,-1.410,-1.792,2,4,0
$STATE,18175,end climb,SURFACE_DEPTH_REACHED
$STATE,18175,begin surface coast
$FREEZE,1.66,-1.410,-1.792,2,4,0
$FINISH,1.7,1.026306
$STATE,18195,end surface coast,CONTROL_FINISHED_OK
$STATE,18195,begin surface
$SM_CCo,18220,72.62,0.074,0,0,442,443.50
$SM_GC,2.61,6.53,4.22,72.62,0.041,0.056,0.074,115,398,442,-6.77,0.54,443.50,0,0,0,0,0,0
$RAFOS_CLK,1205
$RAFOS,5,1328301700,20.700001,20.694445,57,55,53,0,0,0,213,127,169,0,0,0
$RAFOS,4,1328301185,20.566668,20.551390,71,67,56,0,0,0,207,169,130,0,0,0
$RAFOS,2,1328300279,20.299999,20.299723,66,60,58,0,0,0,220,145,190,0,0,0
$RAFOS_FIX,6554.688965,-5924.217773,021211,121228,2,77,1.36
$IRIDIUM_FIX,5958.08,-6040.67,020212,212144
$TT8_MAMPS,0.025466,0.025466
$HUMID,55.74
$INTERNAL_PRESSURE,9.8246
$TCM_TEMP,17.00
$XPDR_PINGS,2
$ALTIM_TOP_PING,15.5,13.6
$24V_AH,21.9,62.212
$10V_AH,10.0,68.317
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,8.875,47.800,384.200,72.625,0.000,0.000,0.000,0.000,4.000,0.000,0.000,638.812,16547.797,518.452,480.057,171.683,0.000,807.794,0.000,473.922,1080.000,25.588,0.000
$DEVICE_MAMPS,142.290,443.700,1419.840,74.205,0.000,0.000,0.000,0.000,420.000,0.000,0.000,18.710,2.310,18.710,41.930,47.920,0.000,12.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,117.620,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,270384
$DATA_FILE_SIZE,6866,169
$CAP_FILE_SIZE,59498,0
$CFSIZE,260165632,207216640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1471.6
$GPS,030212,231235,6017.937,-6034.737,33,0.9,33,-27.2